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updated version, added 'singleObjectQuery' preliminary collision query (convex cast etc)

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added filtering for raycast, thanks Jacky_J
const propagated through a few files
added btHeightfieldTerrainShape.cpp to cmake buildsystem
This commit is contained in:
ejcoumans
2007-07-03 05:10:20 +00:00
parent 485677513b
commit cdc8485db9
11 changed files with 78 additions and 51 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -53,9 +53,9 @@ subject to the following restrictions:
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2006 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren.
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
*
*/
@@ -66,6 +66,7 @@ subject to the following restrictions:
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
#include "../../LinearMath/btVector3.h"
#include "../../LinearMath/btTransform.h"
@@ -208,7 +209,7 @@ public:
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@@ -217,7 +218,14 @@ public:
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback);
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);